2004 Mercedes-Benz M-Class

Transmission jokk between 1st and 2nd gear when cold for at least 4 or 5 stop after warming up change very smootly . Or if on idle will be smooth when warming up for a while standing still. ???

Have the transmission fluid and filter changed. That may fix the problem.

What’s the mileage?

How often have you had the fluid and filter serviced?